cmake_minimum_required(VERSION 3.5)
project(originbot_formation)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(turtlesim REQUIRED)
find_package(nav_msgs REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

add_executable(originbot_tf2_broadcaster src/originbot_tf2_broadcaster.cpp)
ament_target_dependencies(
    originbot_tf2_broadcaster
    geometry_msgs
    rclcpp
    tf2
    tf2_ros
    turtlesim
    nav_msgs
)

add_executable(originbot_tf2_listener1 src/originbot_tf2_listener1.cpp)
ament_target_dependencies(
    originbot_tf2_listener1
    geometry_msgs
    rclcpp
    tf2
    tf2_ros
)

add_executable(originbot_tf2_listener2 src/originbot_tf2_listener2.cpp)
ament_target_dependencies(
    originbot_tf2_listener2
    geometry_msgs
    rclcpp
    tf2
    tf2_ros
)

install(TARGETS
   originbot_tf2_broadcaster
   DESTINATION lib/${PROJECT_NAME})

   
install(DIRECTORY launch
   DESTINATION share/${PROJECT_NAME})
   
install(TARGETS
   originbot_tf2_listener1
   DESTINATION lib/${PROJECT_NAME})
   
install(TARGETS
   originbot_tf2_listener2
   DESTINATION lib/${PROJECT_NAME})

ament_package()
